#ifndef  __upre_gyro_h__
#define __upre_gyro_h__

#include "UPRE_GLOBAL_DEFINE.h"
#define BUFFER_SIZE 14
static bool recv_end_flag = 0;

typedef struct Gyro
{
	uint8_t Gyro_Data[BUFFER_SIZE];
	uint8_t State;
	float Angle_pitch;		//俯仰角
	float Angle_roll;		//横滚角
	float Angle_azimuth;	//方位角
	float Delata_Angle;		//方位角变化值
	float W_x;				//惯导角速率
	float W_y;
	float W_z;
	float A_x;				//惯导加速度
	float A_y;
	float A_z;
}Gyro;

extern struct Gyro gyro;

static void Gyro_Start(void);
void Gyro_Reset(void);
void cal_BW_MINS500(void);
void GYRO_MINS500_Init();
void Gyro_Init(void);
#endif

